基于stm32的mpu6050测试代码
时间: 2023-10-10 16:09:41 浏览: 55
以下是基于STM32的MPU6050测试代码,使用I2C通信:
```c
#include "stm32f10x.h"
#define MPU6050_ADDR 0x68
void I2C1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
I2C_DeInit(I2C1);
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = 400000;
I2C_Init(I2C1, &I2C_InitStructure);
I2C_Cmd(I2C1, ENABLE);
}
void I2C1_WriteByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data)
{
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY) == SET);
I2C_GenerateSTART(I2C1, ENABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1, slaveAddr, I2C_Direction_Transmitter);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
I2C_SendData(I2C1, regAddr);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_SendData(I2C1, data);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_GenerateSTOP(I2C1, ENABLE);
}
uint8_t I2C1_ReadByte(uint8_t slaveAddr, uint8_t regAddr)
{
uint8_t data = 0;
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY) == SET);
I2C_GenerateSTART(I2C1, ENABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1, slaveAddr, I2C_Direction_Transmitter);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
I2C_SendData(I2C1, regAddr);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_GenerateSTART(I2C1, ENABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1, slaveAddr, I2C_Direction_Receiver);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
I2C_AcknowledgeConfig(I2C1, DISABLE);
I2C_GenerateSTOP(I2C1, ENABLE);
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_RXNE) == RESET);
data = I2C_ReceiveData(I2C1);
return data;
}
void MPU6050_Init(void)
{
I2C1_WriteByte(MPU6050_ADDR, 0x6B, 0x00);
I2C1_WriteByte(MPU6050_ADDR, 0x1A, 0x00);
I2C1_WriteByte(MPU6050_ADDR, 0x1B, 0x08);
I2C1_WriteByte(MPU6050_ADDR, 0x1C, 0x00);
}
int main(void)
{
uint8_t accel_x_h, accel_x_l, accel_y_h, accel_y_l, accel_z_h, accel_z_l;
int16_t accel_x, accel_y, accel_z;
I2C1_Init();
MPU6050_Init();
while(1)
{
accel_x_h = I2C1_ReadByte(MPU6050_ADDR, 0x3B);
accel_x_l = I2C1_ReadByte(MPU6050_ADDR, 0x3C);
accel_x = (accel_x_h << 8) | accel_x_l;
accel_y_h = I2C1_ReadByte(MPU6050_ADDR, 0x3D);
accel_y_l = I2C1_ReadByte(MPU6050_ADDR, 0x3E);
accel_y = (accel_y_h << 8) | accel_y_l;
accel_z_h = I2C1_ReadByte(MPU6050_ADDR, 0x3F);
accel_z_l = I2C1_ReadByte(MPU6050_ADDR, 0x40);
accel_z = (accel_z_h << 8) | accel_z_l;
// 进行加速度计数据处理
// 在这里进行其他操作
}
}
```
需要注意的是,这只是一个简单的MPU6050测试代码,如果要实现更多的功能,还需要对MPU6050的寄存器进行配置和读取。同时,该代码中的加速度计数据处理也需要进行更多的优化,以提高精度和稳定性。
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